There is a bug in the code that gets the axis and angle information from a rotation matrix. Where the angle is 180 degrees (the last else statement) it computes the reciprocal value incorrectly. The original code is:
C++:
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float recip = 0.5f/s;
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The fixed code should be:
C++:
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float recip = 1.0f/s;
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This should be corrected in both IvMatrix33 and IvMatrix44.